public void ToggleButtonRecChecked(object sender, RoutedEventArgs e)
{
Controls.ConsoleControl.LogEntries.Add(new LogEntry(DateTime.Now, "Initialization"));
Microsoft.Win32.SaveFileDialog saveFileDialog = new Microsoft.Win32.SaveFileDialog {
Title = "Select filename", Filter = "Replay files|*.replay"
};
if (saveFileDialog.ShowDialog() == true)
{
Controls.ConsoleControl.LogEntries.Add(new LogEntry(DateTime.Now, "Recording Stream"));
DirectRecord(saveFileDialog.FileName);
if (BVHFile == null && sensor != null)
{
Controls.ConsoleControl.LogEntries.Add(new LogEntry(DateTime.Now, "Recording BHV"));
string txtFileName = saveFileDialog.FileName.Replace(".replay", "");
BVHFile = new BVHWriter(txtFileName);
Window w = Window.GetWindow(this);
MainWindow mw = (MainWindow)w;
BVHFile.SetBvhEditor(mw.bvhEditor);
}
}
}
/// <summary>
/// calculate length of each bone, get each joint's original position based on T pose;
/// todo: give each bone a rotation as its start position, and calculate the original offset using this rotation and bone length;
/// </summary>
/// <param name="skeleton"></param>
public void CliberateSkeleton(Skeleton skeleton)
{
_cliberateNum++;
if (NeedBoneClibrated())
{
//clibrateStartPosition(skeleton);
updateBoneLengths(skeleton);
initializeJoints(skeleton);
}
else
{
// set each joint original offset - T pose
foreach (JointNode node in JointNodes)
{
switch (node.JointIndex)
{
case JointType.HipCenter:
//node.OriginalOffset = new Point3D(BVHWriter.BVHScaledValue(_initialOffsets[(int)node.JointIndex].X),
// BVHWriter.BVHScaledValue(_initialOffsets[(int)node.JointIndex].Y + calRealHeightOfHipJoint()), BVHWriter.BVHScaledValue(_initialOffsets[(int)node.JointIndex].Z));
node.OriginalOffset = new Point3D();
break;
default:
node.OriginalOffset = new Point3D(BVHWriter.BVHScaledValue(_initialOffsets[(int)node.JointIndex].X),
BVHWriter.BVHScaledValue(_initialOffsets[(int)node.JointIndex].Y), BVHWriter.BVHScaledValue(_initialOffsets[(int)node.JointIndex].Z));
node.OriginalOffset.X *= 2;
node.OriginalOffset.Y *= 2;
node.OriginalOffset.Z *= 2;
break;
}
}
}
}
public void ToggleButtonRecUnChecked(object sender, RoutedEventArgs e)
{
if (BVHFile != null)
{
BVHFile.CloseBVHFile();
Controls.ConsoleControl.LogEntries.Add(new LogEntry(DateTime.Now, "Record saved"));
BVHFile = null;
}
if (recorder != null)
{
StopRecord();
}
}
/// <summary>
/// update all nodes' offsets and rotations with the latest skeleton frame
/// </summary>
/// <param name="skeleton"></param>
public void UpdateJoints(Skeleton skeleton)
{
//StringBuilder sb = new StringBuilder();
//foreach (JointType joint in Enum.GetValues(typeof(JointType)))
//{
// sb.Append(joint.ToString() + ", Start: " + skeleton.BoneOrientations[joint].StartJoint.ToString()
// + ", End : " + skeleton.BoneOrientations[joint].EndJoint.ToString()
// + " Rotation: " + getrotationString(skeleton.BoneOrientations[joint].HierarchicalRotation) + "\n");
//}
//MessageBox.Show(sb.ToString());
/******* using position to calculate orientation ********/
//Vector3D vectorX, vectorY, vectorZ;
//if (node.JointIndex == JointType.HipCenter)
//{
// vectorY = KinectDataConverter.SkeletonPosToVector3d(skeleton.Joints[JointType.Spine].Position)
// - KinectDataConverter.SkeletonPosToVector3d(skeleton.Joints[JointType.HipCenter].Position);
// vectorX = KinectDataConverter.SkeletonPosToVector3d(skeleton.Joints[JointType.HipLeft].Position)
// - KinectDataConverter.SkeletonPosToVector3d(skeleton.Joints[JointType.HipRight].Position);
// Matrix3D rotationMatrix = new Matrix3D();
// KinectDataConverter.MakeMatrixFromYX(vectorX, vectorY, ref rotationMatrix);
// Quaternion rotationQuaternion = KinectDataConverter.LookRotation(
// KinectDataConverter.GetZColumn(rotationMatrix), KinectDataConverter.GetYColumn(rotationMatrix));
//}
/******* using position to calculate orientation ********/
foreach (JointNode node in JointNodes)
{
JointType rotationJoint = getRotationJoint(node);
Quaternion rotation = new Quaternion();
if (node.Type == NodeTypeEnum.ROOT)
{
node.Offset.X = BVHWriter.BVHScaledValue(skeleton.Joints[node.JointIndex].Position.X - _initialOffsets[(int)node.JointIndex].X);
node.Offset.Y = BVHWriter.BVHScaledValue(skeleton.Joints[node.JointIndex].Position.Y - _initialOffsets[(int)node.JointIndex].Y + calRealHeightOfHipJoint());
node.Offset.Z = BVHWriter.BVHScaledValue(skeleton.Joints[node.JointIndex].Position.Z - _initialOffsets[(int)node.JointIndex].Z);
rotation = KinectDataConverter.Vector4ToQuaternion(skeleton.BoneOrientations[node.JointIndex].AbsoluteRotation.Quaternion);
Quaternion initialQuat = _initialRotations[(int)node.JointIndex];
initialQuat.Invert();
rotation = initialQuat * rotation;
node.Rotation = KinectDataConverter.QuaternionToAxisAngles(rotation);
}
else
{
rotation = KinectDataConverter.Vector4ToQuaternion(skeleton.BoneOrientations[rotationJoint].HierarchicalRotation.Quaternion);
Quaternion initialQuat = _initialRotations[(int)node.JointIndex];
initialQuat.Invert();
rotation = initialQuat * rotation;
node.Rotation = KinectDataConverter.QuaternionToAxisAngles(rotation);
//if (node.Axis == TransAxis.X || node.Axis == TransAxis.nX)
//{
// Vector3D tempRotation = node.Rotation;
// node.Rotation.X = tempRotation.Z;
// node.Rotation.Z = tempRotation.X;
//}
}
}
}
